Optimal controllers for finite wordlength implementation
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abstract
There exist realizations of a given controller transfer function yielding arbitrarily large effects from computational errors. Since, in general, there is no upper bound, it is important to have a systematic way of reducing these effects. Optimum controller designs are developed which take into account the digital round-off errors in the controller implementation and in the A/D and D/A converters. These results provide a natural extension to the LQG (linear quadratic Gaussian) theory since they reduce to the standard LQG controller when infinite-precision computation is used, but for finite precision the separation principle does not hold.
